#ifndef __PID_H
#define __PID_H			  	 
#include "pid.h"	

#define lo_error_zone 2 
#define lo_integral_start 200
#define lo_integral_max 800

#define sp_error_zone 5.0f 
#define sp_integral_start 20
#define sp_integral_max 80

#define cu_error_zone 6
#define cu_integral_start 20
#define cu_integral_max 80

extern void PID_Init(void);										
extern int Incremental_P(int Encoder,int Target);
extern int Incremental_PI (int Encoder,int Target);
extern int Incremental_PID (int Encoder,int Target);
extern int Incremental_P2(int Encoder,int Target);
extern int Incremental_PI2 (int Encoder,int Target);
extern int Incremental_PID2 (int Encoder,int Target);
#endif  
